/PROG  T2D_T1P
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "T2 DR -> T1 PK";
PROG_SIZE	= 2148;
CREATE		= DATE 12-05-30  TIME 15:28:16;
MODIFIED	= DATE 24-11-26  TIME 17:32:08;
FILE_NAME	= T2D_T1P;
VERSION		= 0;
LINE_COUNT	= 55;
MEMORY_SIZE	= 2560;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  IF DI[14]=ON OR DI[25]=OFF,JMP LBL[90] ;
   6:  TIMER[10]=RESET ;
   7:  TIMER[10]=START ;
   8:   ;
   9:J P[3:CLEAR] 30% CNT50    ;
  10:L P[4:APPROACH] 200mm/sec CNT50 ACC70    ;
  11:  WAIT DI[26]=OFF    ;
  12:L P[5:APPROACH] 300mm/sec CNT50    ;
  13:L P[6:APPROACH] 300mm/sec FINE    ;
  14:L P[7:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=ON    ;
  15:  DO[21]=ON ;
  16:  DO[13]=OFF ;
  17:  DO[14]=ON ;
  18:  WAIT DI[14]=ON    ;
  19:  WAIT   2.00(sec) ;
  20:  DO[14]=OFF ;
  21:L P[8:APPROACH] 100mm/sec CNT50 ACC50 DB    0.0mm,DO[21]=OFF    ;
  22:  WAIT DI[26]=ON    ;
  23:L P[9:APPROACH] 300mm/sec CNT50    ;
  24:L P[10:APPROACH] 300mm/sec CNT50    ;
  25:L P[3:CLEAR] 200mm/sec CNT50 ACC70    ;
  26:J P[2:CLEAR] 30% CNT100    ;
  27:   ;
  28:J P[1:CLEAR] 30% CNT50    ;
  29:L P[11:APPROACH] 200mm/sec CNT50 ACC70    ;
  30:  WAIT DI[25]=ON    ;
  31:L P[12:APPROACH] 300mm/sec CNT50    ;
  32:L P[13:APPROACH] 300mm/sec FINE    ;
  33:  DO[13]=OFF ;
  34:  DO[14]=ON ;
  35:  WAIT DI[14]=ON    ;
  36:  WAIT    .50(sec) ;
  37:L P[14:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=ON    ;
  38:  DO[21]=ON ;
  39:  WAIT   1.00(sec) ;
  40:  DO[14]=OFF ;
  41:  DO[13]=ON ;
  42:  WAIT DI[13]=ON    ;
  43:  WAIT   1.00(sec) ;
  44:L P[15:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=OFF    ;
  45:L P[16:APPROACH] 300mm/sec CNT50    ;
  46:L P[11:APPROACH] 300mm/sec CNT50    ;
  47:L P[1:CLEAR] 200mm/sec CNT50 ACC70    ;
  48:   ;
  49:  MOVE TO HOME    ;
  50:  TIMER[10]=STOP ;
  51:   ;
  52:  END ;
  53:   ;
  54:  LBL[90] ;
  55:  MESSAGE[ERROR: T2 DETECT OR NOT] ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3066.682  mm,	Y =   759.262  mm,	Z =  -600.000  mm,
	W =  -180.000 deg,	P =     -.000 deg,	R =    90.000 deg,
	E1=    16.095 deg
};
P[2:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2088.861  mm,	Y =      .057  mm,	Z =  -533.913  mm,
	W =   179.999 deg,	P =     -.001 deg,	R =  -179.998 deg,
	E1=   107.700 deg
};
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3017.729  mm,	Y =  -851.419  mm,	Z =  -600.010  mm,
	W =   180.000 deg,	P =      .002 deg,	R =   -90.000 deg,
	E1=    16.095 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3232.822  mm,	Y =  -694.238  mm,	Z = -1209.220  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =   -90.000 deg,
	E1=    16.095 deg
};
P[5:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3228.527  mm,	Y =  -700.087  mm,	Z = -1347.739  mm,
	W =   179.959 deg,	P =    87.950 deg,	R =   -90.989 deg,
	E1=    16.098 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3231.341  mm,	Y =  -496.025  mm,	Z = -1345.810  mm,
	W =   179.981 deg,	P =    87.950 deg,	R =   -90.967 deg,
	E1=    15.554 deg
};
P[7:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3231.339  mm,	Y =  -496.024  mm,	Z = -1415.500  mm,
	W =   179.979 deg,	P =    87.950 deg,	R =   -90.969 deg,
	E1=    15.554 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -20.814 deg,	J2=   -16.419 deg,	J3=    70.055 deg,
	J4=   -80.964 deg,	J5=  -107.880 deg,	J6=   291.728 deg,
	E1=    15.554 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3226.814  mm,	Y =  -726.000  mm,	Z = -1200.607  mm,
	W =   179.361 deg,	P =    89.587 deg,	R =   -90.641 deg,
	E1=    16.095 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3226.813  mm,	Y =  -726.000  mm,	Z = -1067.647  mm,
	W =   179.358 deg,	P =    89.587 deg,	R =   -90.643 deg,
	E1=    16.095 deg
};
P[11:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.823  mm,	Y =   787.680  mm,	Z = -1045.378  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =    90.000 deg,
	E1=    15.275 deg
};
P[12:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.301  mm,	Y =   738.603  mm,	Z = -1283.466  mm,
	W =  -179.598 deg,	P =    89.667 deg,	R =    90.402 deg,
	E1=    15.275 deg
};
P[13:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3231.114  mm,	Y =   626.951  mm,	Z = -1416.549  mm,
	W =    84.924 deg,	P =    89.712 deg,	R =    -5.076 deg,
	E1=    15.750 deg
};
P[14:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.976  mm,	Y =   498.557  mm,	Z = -1421.589  mm,
	W =   165.152 deg,	P =    88.868 deg,	R =    74.829 deg,
	E1=    15.677 deg
};
P[15:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.975  mm,	Y =   498.557  mm,	Z = -1321.749  mm,
	W =   165.152 deg,	P =    88.868 deg,	R =    74.829 deg,
	E1=    15.677 deg
};
P[16:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.636  mm,	Y =   720.152  mm,	Z = -1319.000  mm,
	W =    84.935 deg,	P =    89.714 deg,	R =    -5.064 deg,
	E1=    16.093 deg
};
/END
